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JRM Vol.15 No.2 pp. 185-191
doi: 10.20965/jrm.2003.p0185
(2003)

Paper:

A Novel Robot Vision Applicable to Real-time Target Tracking

Kazuhiro Shimonomura*, Keisuke Inoue**, Seiji Kameda*, and Tetsuya Yagi*

*Graduate School of Engineering, Osaka University, 2-1 Yamadaoka, Suita, Osaka, 565-0871 Japan

**Graduate School of Life Science and Systems Engineering, Kyushu Institute of Technology, 2-4 Hibikino, wakamatsu, Kitakyushu, 808-0196 Japan

Received:
November 1, 2002
Accepted:
December 5, 2002
Published:
April 20, 2003
Keywords:
robot vision, silicon retina, FPGA, target tracking
Abstract

We designed a vision system with a novel architecture composed of a silicon retina, an analog CMOS VLSI intelligent sensor, and FPGA. Two basic pre-processes are done with the silicon retina: a Laplacian-Gaussian (∇2G)-like spatial filtering and a subtraction of consecutive frames. Analog outputs of the silicon retina were binarized and transferred to FPGA in which digital image processing was executed. The system was applied to real-time target tracking under indoor illumination. Namely, the center of a target object was found as the median of the binarized image. The object could be tracked within the video frame rate in indoor illumination. The system has a compact hardware and a low power consumption and therefore is suitable for robot vision.

Cite this article as:
Kazuhiro Shimonomura, Keisuke Inoue, Seiji Kameda, and Tetsuya Yagi, “A Novel Robot Vision Applicable to Real-time Target Tracking,” J. Robot. Mechatron., Vol.15, No.2, pp. 185-191, 2003.
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